A modular approach to system integration in underwater robotics

Underwater exploration is experiencing an ever increasing usage of both autonomous and remotely operated robotic vehicles. Vehicles are typically equipped with several sensors depending on the mission type being carried out. Integration of all these systems together, as well as obtaining data from t...

Full description

Saved in:
Bibliographic Details
Main Authors: Lugaric, Tomislav, Nad, Dula, Vukic, Zoran
Format: Conference Proceeding
Language:English
Subjects:
Computer architecture
Computers
Graphical user interfaces
Sensor systems
Vehicles
XML
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Underwater exploration is experiencing an ever increasing usage of both autonomous and remotely operated robotic vehicles. Vehicles are typically equipped with several sensors depending on the mission type being carried out. Integration of all these systems together, as well as obtaining data from them presents a significant challenge. This article describes a software architecture which represents all entities in the system as equivalent modules, while hiding their specifics from the user. Each module in the system is fully defined only by the data it produces and the commands it accepts. Modules are coupled together using a communication interface which again hides the underlying protocol from the user, and is based solely on message exchange. This architecture allows quick reconfiguration of the vehicle, easy integration of various sensor systems and provides the application developers with a higher level of abstraction.
DOI:10.1109/MED.2011.5983028